Results 251 to 260 of about 10,574,592 (282)

Energy Planning for Autonomous Driving of an Over-Actuated Road Vehicle

IEEE Transactions on Intelligent Transportation Systems, 2021
In this work, an energy planning strategy is proposed for over-actuated unmanned road vehicles (URVs) having redundant steering configurations. In fact, indicators on the road geometry, the actuation redundancy, the optimal velocity profile, and the driving mode are evaluated for each segment of the URV’s trajectory.
Ismail Bensekrane, Pushpendra Kumar, Achille Melingui, Vincent Coelen, Yacine Amara, Taha Chettibi, Rochdi Merzouki   +6 more
openaire   +3 more sources

Towards adaptive power consumption estimation for over-actuated unmanned vehicles

2017 IEEE International Conference on Robotics and Biomimetics (ROBIO), 2017
This paper deals with the estimation of power consumption for an unmanned road vehicle, according to the degree of steerability, the degree of redundancy and the path curvature changes. Thus, the main dynamic behaviors inducing directly or indirectly the power consumption for an autonomous road vehicle are considered for uniform and uniformly variable ...
Bensekrane, Ismail, Merzouki, Rochdi, Pushpendra, Kumar, Amara, Yacine   +3 more
openaire   +4 more sources

Control allocation algorithm for over-actuated electric vehicles

Journal of Central South University, 2014
A control allocation algorithm based on pseudo-inverse method was proposed for the over-actuated system of four in-wheel motors independently driving and four-wheel steering-by-wire electric vehicles in order to improve the vehicle stability. The control algorithm was developed using a two-degree-of-freedom (DOF) vehicle model.
Chong Feng, Neng-gen Ding, Yong-ling He, Guo-yan Xu, Feng Gao   +4 more
openaire   +1 more source

Visual LOS Guided Docking of Over-actuated Underwater Vehicle

Global Oceans 2020: Singapore – U.S. Gulf Coast, 2020
This paper discusses the visual servo guided implementation of automatic docking task for an over-actuated underwater vehicle. Firstly, an overall introduction about the over-actuated vehicle is described. Secondly, the automatic docking mission is presented, in which the design of docking device is briefly introduced.
Xiang Su, Xianbo Xiang, Donglei Dong, Jialei Zhang   +3 more
openaire   +1 more source

Control allocation for an over-actuated Satellite Launch Vehicle

Aerospace Science and Technology, 2013
Abstract Dynamic equations governing the short period dynamics of an over-actuated Satellite Launch Vehicle (SLV) with a typical eight-actuator configuration have been modeled in a separable form. Two rigid body models have been developed – one including the slosh dynamics, the other neglecting it.
W.C. Arun Kishore, Santanu Dasgupta, Gosaidas Ray, Siddhartha Sen   +3 more
openaire   +1 more source

Optimal tire force allocation for trajectory tracking with an over-actuated vehicle

2015 IEEE Intelligent Vehicles Symposium (IV), 2015
As more actuators are implemented, vehicles are becoming over-actuated and obtaining more authority to control individual tire forces. This paper presents a method that utilizes this abundant actuating capability to allocate tire forces optimally with a convex optimization formulation. The basic objective of this optimal allocation is to keep the usage
Hyungchai Park, J. Christian Gerdes
openaire   +2 more sources

Framework for implementation of higher-level control for over-actuated electric vehicles

2015 IEEE Conference on Control Applications (CCA), 2015
This paper will outline the development of a vehicle dynamics simulation framework using Matlab/Simulink and SimScape utilising the block based system modelling technique. This framework is used for implementing higher-level control architectures for distributed drive and torque vectoring strategies for Over Actuated Electric Ground Vehicles (OAEGV ...
Sean C. McTrustry, Phil Commins, Haiping Du   +2 more
openaire   +2 more sources

Development and Performance Enhancement of An Over-Actuated Autonomous Ground Vehicle

IEEE/ASME Transactions on Mechatronics, 2020
To further enhance the safety, energy efficiency, and riding comfort of autonomous ground vehicles (AGVs), an overactuated AGV (OA-AGV) driven by four in-wheel motors and two steering motors is developed. Benefitted from the overactuation, three main advantages of the OA-AGV over conventional AGVs are demonstrated in this article.
Yiwen Huang, Fengchen Wang, Ao Li, Yue Shi, Yan Chen   +4 more
openaire   +1 more source

Variable-speed path following of an over-actuated underwater vehicle

2018 IEEE 8th International Conference on Underwater System Technology: Theory and Applications (USYS), 2018
This paper introduces a unified control architecture for variable-speed path following of underwater vehicles with control surfaces and through-body thrusters through the entire non-zero speed profile. This architecture is composed of a robust control law and a smooth allocation flow.
Caoyang Yu, Xianbo Xiang, Jialei Zhang, Yanbin Chen   +3 more
openaire   +1 more source